Table REF  shows the results of our models on the Argoverse test set compared to some standard baselines, including THOMAS [1]}, TNT [2]}, and the original GOHOME [3]} model.
The numbers for the baseline models are directly copied from the leaderboard.
We can see that, by adding cycle loss, our GOHOME-Mod + CL model outperforms all metrics of its corresponding baseline GOHOME-Mod and improves minFDE6 by a significant amount.
This result demonstrates the effectiveness of our cycle loss method.
The result also shows our GOHOME-Mod implementation archives similar performance as the reported numbers of the original GOHOME model on the Argoverse leaderboard, indicating that our re-implementation is a competitive model.
